EP3639972A1 - Universalgreifer für scheiben von uhren - Google Patents

Universalgreifer für scheiben von uhren Download PDF

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Publication number
EP3639972A1
EP3639972A1 EP18201036.3A EP18201036A EP3639972A1 EP 3639972 A1 EP3639972 A1 EP 3639972A1 EP 18201036 A EP18201036 A EP 18201036A EP 3639972 A1 EP3639972 A1 EP 3639972A1
Authority
EP
European Patent Office
Prior art keywords
gripper
washer
support plate
axial
washers
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP18201036.3A
Other languages
English (en)
French (fr)
Other versions
EP3639972B1 (de
Inventor
Raphaël Loeffel
Jean-Philippe Senn
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ETA SA Manufacture Horlogere Suisse
Original Assignee
ETA SA Manufacture Horlogere Suisse
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ETA SA Manufacture Horlogere Suisse filed Critical ETA SA Manufacture Horlogere Suisse
Priority to EP18201036.3A priority Critical patent/EP3639972B1/de
Publication of EP3639972A1 publication Critical patent/EP3639972A1/de
Application granted granted Critical
Publication of EP3639972B1 publication Critical patent/EP3639972B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/002—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring the holding action of work or tool holders
    • B23Q17/005—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring the holding action of work or tool holders by measuring a force, a pressure or a deformation
    • G—PHYSICS
    • G04—HOROLOGY
    • G04D—APPARATUS OR TOOLS SPECIALLY DESIGNED FOR MAKING OR MAINTAINING CLOCKS OR WATCHES
    • G04D1/00—Gripping, holding, or supporting devices
    • G04D1/0078—Automated gripping means
    • G—PHYSICS
    • G04—HOROLOGY
    • G04D—APPARATUS OR TOOLS SPECIALLY DESIGNED FOR MAKING OR MAINTAINING CLOCKS OR WATCHES
    • G04D1/00—Gripping, holding, or supporting devices
    • G04D1/0092—Devices for positioning and sorting of the components

Definitions

  • the invention relates to a universal gripper for timepiece washers, designed to be fixed or integrated into a handling means or a robot arm, and comprising a clamp with a plurality of jaws movable radially concentrically about an axis. main and which are projecting relative to a support plate that comprises said gripper and which is movable in the direction of said main axis, each said jaw comprising at least a first radial surface arranged for a radial support on the edge of a washer , said support plate comprising at least a first axial surface arranged for axial support on a flat surface of a washer, and each said jaw being movable radially, perpendicular to the direction of said main axis.
  • the invention also relates to a handling means for timepiece washers, incorporating at least one such gripper.
  • the invention also relates to a fitting for timepiece washers, suitable for such a gripper.
  • the invention also relates to the use of such a handling means for driving and / or releasing a washer from a watch sub-assembly without deformation of said washer.
  • the invention relates to the field of handling small components of the washer type in an automated manufacture of high-speed timepieces, in particular for the production of blanks.
  • clockwork blanks uses as raw materials washers, of very varied dimensions, in diameter as in thickness, and in materials which can be quite different. Modern flexible machining tends to replace the large series of former production batches of much smaller size, even unitary. The supply of means of production must therefore be completely redesigned to adapt to a very diversified supply upstream, for the realization of an even more diversified production downstream.
  • the setting time for a production change is the parameter that must be reduced by all imaginable means, precisely to allow a reduction in batch sizes at the production level.
  • the handling rates of the washers are very high, with a complete cycle of a few seconds between opening and closing, which leaves only a duration of one to two seconds for the gripper of the washer.
  • the invention proposes to develop a flexible gripper, for picking up and depositing washers of various types, suitable for high frequencies, and capable of ensuring a constant resistant force against a manipulator. antagonist such as a robot, and allowing immediate adaptation to a change in washer dimensions.
  • the invention relates to a gripper for timepiece washers according to claim 1, in particular for feeding a robot, a machining center, or any production means.
  • the invention also relates to a handling means for timepiece washers, incorporating at least one such gripper.
  • the invention also relates to a fitting for timepiece washers, suitable for such a gripper.
  • the invention also relates to the use of such a handling means for driving and / or releasing a washer from a watch sub-assembly without deformation of said washer.
  • the invention relates to a flexible gripper 1, for picking up and removing washers of various types, for making watchmaking blanks or the like.
  • This gripper 1 is suitable for high frequencies, and is capable of ensuring a constant resistant force against an opposing manipulator such as a robot, and allows immediate adaptation to a change in dimensions of the washers, in the flexible production.
  • the gripper 1 is designed to grip all types of washers of a particular production, on different types of feed systems, and to deposit them on different types of machining laying, with a certain vertical force, preferably tared, and preferably less than or equal to 300 N.
  • the same gripper also makes it possible to grasp all these washers on these same machining positions, without having to use an extraction system from below, and to deposit them on an outlet system.
  • the figures illustrate a non-limiting embodiment suitable for handling washers of watch blanks which have diameters between 10 mm and 80 mm, and thicknesses between 0.5 mm and 10.0 mm.
  • This universal gripper 1 for timepiece washers is designed to be fixed or integrated into a handling means or a robot arm, and comprises a clamp 2 with a plurality of jaws 3 movable radially concentrically around a main axis D. These jaws 3 are projecting with respect to a support plate 4 that comprises the gripper 1, which support plate 4 is movable in the direction of the main axis D.
  • the invention is illustrated in the figures with two diametrically opposite jaws 3, guided in slides 90 and cooperating with a helical cam 92 that conventionally comprises a rotor 91.
  • the gripper 1 can comprise a greater number of jaws 3, the configuration to two jaws is however particularly advantageous because of its reduced mass, it is indeed a question of producing a gripper with a smaller size than that of commercial manipulators, and of lower inertia than these, while ensuring operation quality and resistance to a hunting force of 300 N.
  • each jaw 3 comprises at least a first radial surface 5, which is arranged for radial support on the edge of a washer.
  • the support plate 4 comprises at least a first axial surface 41, which is arranged for axial support on a flat surface of a washer.
  • Each jaw 3 is radially movable, perpendicular to the direction of the main axis D.
  • each jaw 3 is also movable axially in the direction of the main axis D relative to the support plate 4, or vice versa.
  • each jaw 3 comprises at least a second axial surface 6, which is arranged for axial support on a flat surface of a washer, as visible on the figure 3 . More particularly, each jaw 3 has a centering surface 7, between the second axial surface 6 and the support plate 4.
  • all the jaws 3 are arranged to grip the same washer at the same plane perpendicular to the main axis D. More particularly, all the first radial surfaces 5 are arranged to grip the same washer at a same plane perpendicular to the main axis D.
  • all the second axial surfaces 6 are arranged to grip the same washer at the same plane perpendicular to the main axis D.
  • each jaw 3 has a single first finger 31 projecting radially towards the main axis D and comprising a first radial surface 5, and comprising a second axial surface 6 between the first radial surface 5 and the support plate 4.
  • all the jaws 3 are identical and coplanar along a plane perpendicular to the main axis D.
  • the gripper 1 has only two identical jaws 3, coplanar along a plane perpendicular to the main axis D and diametrically opposite with respect to the main axis D.
  • the function of taking the washers can be carried out on the edge of the washers, which corresponds to the general real case when taking the washers on a supply system, or else below the washers, which is the general real case when taking the washers on the machining setting.
  • each jaw 3 comprises a first finger 31 projecting radially towards the main axis D and comprising a first radial surface 5, and, on the side of the first finger 31 opposite the support plate 4, and at a distance from the first finger 31 greater at the maximum thickness of the washers to be handled, a second finger 32 projecting radially towards the main axis D and comprising a second axial surface 6 facing the first finger 31.
  • this second finger 32 is delimited, towards the axis main D, by a pointed beak 8 arranged to separate a washer from a fitting 200 or a stack of washers during a centripetal radial movement of the jaw 3, the pointed beak 8 being at a greater distance from the main axis D that the first radial surface 5.
  • the jaws 3 are arranged to maintain a washer in abutment on the support plate 4, and to exert a force resistant to the thrust or to the traction exerted by a robot.
  • the axial stroke of the support plate 4 is adjustable to adapt to each type of washer or to each thickness of washer.
  • the support plate 4 is thus arranged to compensate for differences in thickness of different washers in a production batch.
  • the relative axial stroke between the jaws 3 and the support plate 4 is adjustable to adapt to each thickness of washer.
  • the gripper 1 comprises axial maneuvering means of the support plate 4 in the direction of the main axis D to maintain the support plate 4 on a setting with a calibrated force and less than or equal to 300 N, and which are advantageously combined with at least one force sensor along the main axis D which is arranged to measure the tensile and / or compression force, and compare it to the calibrated force or to the value of 300N.
  • the gripper 1 is capable of processing all the thicknesses of washers of the production spectrum, the position of the plate being adaptable to the thickness of each washer. This function also allows significant support on the surface of the washer, so as to withstand the maximum effort of 300 N of driving force without deforming the washer.
  • the gripper 1 comprises electrical controls 10 for the radial operation of the jaws 3, and for the axial operation of the support plate 4.
  • the gripper 1 includes electrical controls 10 for the axial operation of the jaws 3.
  • the gripper 1 includes at least one encoder for a motor that includes an electrical control 10, for adapting the thickness and / or diameter of a washer, arranged to give the electrical controls 10 racing instructions minimum and maximum.
  • the gripper 1 comprises measuring means 11 for adapting the thickness and / or diameter of a washer, arranged to give the electrical controls 10 minimum and maximum travel instructions.
  • the electrical controls 10 can be configured in position and / or in speed and / or in acceleration and / or in torque and / or in support force.
  • the electrical controls 10 are arranged to perform a movement consisting in spreading the jaws 3 radially to deposit a washer on a setting, and in axially moving the support plate 4 in the direction of the main axis D, to compensate the differences in thickness between the different washers.
  • the gripper 1 is entirely electric, all the movements of the jaws 3 and of the support plate 4 are electrically controllable, therefore numerically configurable by caliber or by type of blank (position, speeds, acceleration, forces, and others).
  • the motorization comprises two motors each equipped with a reduction gear and an encoder, the first motor 14 carries out the movement of the two jaws 3, and the second motor 15 carries out the movement of the support plate 4.
  • These motors are controlled in position by an order coming from a programmable command, the positions are part of a recipe (set of parameters) which is specific to the caliber to be processed.
  • Each motor is equipped with a divider which allows communication with this programmable control.
  • the invention also relates to a means 100 for handling timepiece washers, comprising at least one such gripper 1.
  • this handling means 100 comprises at least one robot 102 with a robot arm 101 carrying at least one gripper 1, and this robot 102, thus equipped, is arranged to chase or release a washer by a movement according to the direction of the main axis D.
  • the handling means 100 comprises at least one vision means, which is arranged to identify the upper or lower face of a blank upstream of the gripper 1 and to control a turning operation by an annexed manipulator, and / or to determine the angular orientation of a blank upstream of the gripper 1 according to the position of a notch and / or of holes which the washer comprises and to control an angular rotation maneuver by an auxiliary manipulator, and / or to read on a washer upstream of the gripper 1 an identification marking to trigger operating parameters of the gripper 1.
  • vision means which is arranged to identify the upper or lower face of a blank upstream of the gripper 1 and to control a turning operation by an annexed manipulator, and / or to determine the angular orientation of a blank upstream of the gripper 1 according to the position of a notch and / or of holes which the washer comprises and to control an angular rotation maneuver by an auxiliary manipulator, and / or to read on a washer upstream of the gripper 1 an identification marking
  • the handling means 100 comprises three cameras, each dedicated to one of these functions, arranged one after the other downstream of a feeding station comprising for example a vibrating bowl and at least one conveyor, and make it possible to trigger retaining movements if necessary our compassion, and also to perform an angular pre-positioning, while identifying the type of washer without risk of error.
  • the invention also relates to a fitting 200 for timepiece washers, arranged for handling of washers by such a gripper 1,
  • this fitting 200 comprises, under a bearing face 201 arranged to receive a washer or a stack of washers, and a groove 202 arranged to authorize the centripetal radial insertion of fingers 31, 32, which comprise jaws 3 of the gripper1, for gripping without deformation of at least one washer deposited on the bearing face 201.
  • the invention also relates to the use of such a handling means 100 for driving and / or releasing a washer from a watch sub-assembly without deformation of the washer.
  • the invention makes it possible to solve the technical problem of flattening of the washers, for all the horological blanks of the washers, the laying with driving in mechanical abutment on a setting defining a machining position, as well as the grip by below for its extraction from the laying.
  • the functions of hunting and detaching the washers on a machining position are thus carried out by a single device, which is moreover light and very compact, with a low inertia, which is perfectly compatible with its manipulation by a robot in time transit of a few tenths of a second.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
EP18201036.3A 2018-10-17 2018-10-17 Universalgreifer für scheiben von uhren Active EP3639972B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP18201036.3A EP3639972B1 (de) 2018-10-17 2018-10-17 Universalgreifer für scheiben von uhren

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP18201036.3A EP3639972B1 (de) 2018-10-17 2018-10-17 Universalgreifer für scheiben von uhren

Publications (2)

Publication Number Publication Date
EP3639972A1 true EP3639972A1 (de) 2020-04-22
EP3639972B1 EP3639972B1 (de) 2023-05-24

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210302915A1 (en) * 2020-03-27 2021-09-30 Nivarox-Far S.A. Receptacle for horological assembly
CN115373251A (zh) * 2021-04-26 2022-11-22 伊塔瑞士钟表制造股份有限公司 钟表装配件
EP4296013A1 (de) * 2022-06-21 2023-12-27 ETA SA Manufacture Horlogère Suisse Greifer für uhrenkomponente

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1366810A (fr) * 1963-05-04 1964-07-17 Huguenin & Cie Procédé de fabrication d'un cadran d'horlogerie
FR2168286A1 (de) * 1972-01-18 1973-08-31 Portescap
EP1454691A1 (de) * 2003-03-04 2004-09-08 Willemin Machines S.A. Spannvorrichtung mit elastischen Gelenken
EP2187273A1 (de) * 2008-11-18 2010-05-19 Almac S.A. Bearbeitung von Werkstücken mit einem einzigen Klemmvorgang
JP2013082041A (ja) * 2011-10-12 2013-05-09 Seiko Epson Corp ロボット
JP2016032865A (ja) * 2015-10-30 2016-03-10 セイコーエプソン株式会社 ロボットハンド

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1366810A (fr) * 1963-05-04 1964-07-17 Huguenin & Cie Procédé de fabrication d'un cadran d'horlogerie
FR2168286A1 (de) * 1972-01-18 1973-08-31 Portescap
EP1454691A1 (de) * 2003-03-04 2004-09-08 Willemin Machines S.A. Spannvorrichtung mit elastischen Gelenken
EP2187273A1 (de) * 2008-11-18 2010-05-19 Almac S.A. Bearbeitung von Werkstücken mit einem einzigen Klemmvorgang
JP2013082041A (ja) * 2011-10-12 2013-05-09 Seiko Epson Corp ロボット
JP2016032865A (ja) * 2015-10-30 2016-03-10 セイコーエプソン株式会社 ロボットハンド

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210302915A1 (en) * 2020-03-27 2021-09-30 Nivarox-Far S.A. Receptacle for horological assembly
US11640143B2 (en) * 2020-03-27 2023-05-02 Nivarox-Far S.A. Receptacle for horological assembly
CN115373251A (zh) * 2021-04-26 2022-11-22 伊塔瑞士钟表制造股份有限公司 钟表装配件
EP4296013A1 (de) * 2022-06-21 2023-12-27 ETA SA Manufacture Horlogère Suisse Greifer für uhrenkomponente

Also Published As

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